Self-aligning pipe gripping assembly and method of making and using the same

ABSTRACT

A self-aligning piston is configured to selectively engage and disengage a pipe segment to permit a top drive output shaft to be coupled to the pipe segment. In one embodiment, the self-aligning piston includes a piston body configured to rotate between a first position and a second position, at least one resilient, energy-storing member coupled to the piston body, a roller assembly coupled to the piston body, and a cam disposed between the at least one resilient, energy-storing member and the roller assembly. The resilient, energy-storing member is configured to bias the piston body into the first position by rotating the roller assembly along the cam.

FIELD

The present disclosure relates generally to pipe gripping assemblies,and more particularly to self-aligning pipe gripping pistons.

BACKGROUND

The process of drilling an oil well typically involves assembling drillstrings and casing strings and inserting the drill strings and casingstrings into the ground to form a well bore. The drill strings andcasing strings extend downward from an oil drilling rig and into theground. The drilling strings and the casing strings are rotationallydriven into the ground by a top drive motor on the drilling rig. Drillstrings typically include a series of drill segments that are threadedtogether. The lowest drill segment (i.e., the drill segment extendingthe furthest into the ground) includes a drill bit at its lower end.Typically, the casing string is provided around the drill string to linethe well bore after the drilling operation has been completed. Thecasing string is configured to ensure the integrity of the well bore.The casing string includes a series of casing segments that are threadedtogether.

Recently, pipe gripping devices have been devised that utilize theexisting top drive of the oil drilling rig to assemble the drill stringsand the casing strings. Some conventional pipe gripping devices arefixedly mounted in a robust support. When such conventional grippingdevices are subject to a large off-center force during operation,however, the conventional gripping device may become damaged, which isboth costly and time consuming as the drilling operation must cease inorder to repair the damaged pipe gripping device.

SUMMARY

The present disclosure is directed to various embodiments of a pipegripping assembly and a self-aligning piston for use in oil welldrilling systems. The pipe gripping assemblies and self-aligning pistonsof the present disclosure are configured to selectively engage anddisengage a pipe segment and to correct for misalignments relative tothe pipe segment.

According to one embodiment of the present disclosure, the self-aligningpiston includes a piston body configured to rotate between a firstposition and a second position, a resilient, energy-storing membercoupled to the piston body, a roller assembly coupled to the pistonbody, and a cam disposed between the resilient, energy-storing memberand the roller assembly. In one embodiment, the first position is analigned orientation relative to the pipe segment and the second positionis a misaligned orientation relative to the pipe segment. The resilient,energy-storing member is configured to bias the piston body into thefirst position (e.g., the aligned orientation) by rotating the rollerassembly along the cam. In one embodiment, the resilient, energy-storingmember includes several springs. In one embodiment, the self-aligningpiston includes a die assembly coupled to the piston body. In oneembodiment, the cam defines a contoured cam surface having a pair ofopposing wells and a pair of opposing apices. Rollers on the rollerassembly are configured to rest in the wells when the piston body is inthe first position (e.g., the aligned orientation) and to roll along thecam surface toward the apices as the piston body is rotated into thesecond position (e.g., the misaligned orientation). The resilient,energy-storing member is configured to bias the rollers into the wellsto return the piston body to the first position (e.g., the alignedorientation). In one embodiment, the resilient, energy-storing member isin a pre-compressed state when the piston body is in the first positionand the resilient, energy-storing member is compressed further to ahigher potential energy state when the piston body is in the secondposition. This state of higher potential energy provides the drivingforce to return the piston body to the normal, aligned, first position.In one embodiment, the self-aligning piston is configured to slide alonga splined shaft between an engaged position with the pipe segment and adisengaged position. In one embodiment, the cam includes a hub having asplined surface configured to engage the splined shaft to prevent therotation of the cam about the splined shaft.

According to another embodiment of the present disclosure, the pipegripping assembly includes first and second jaws configured to clamptogether around a pipe segment, at least one splined shaft fixedlyhoused in each of the first and second jaws, and at least oneself-aligning piston housed in each of the first and second jaws. Theself-aligned pistons are configured to slide along the splined shaftbetween an engaged position and a disengaged position. In oneembodiment, each of the at least one self-aligning pistons includes apiston body configured to rotate between a first position (e.g., analigned orientation relative to the pipe segment) and a second position(e.g., a misaligned orientation relative to the pipe segment), at leastone resilient, energy-storing member coupled to the piston body, aroller assembly coupled to the piston body, and a cam disposed betweenthe at least one resilient, energy-storing member and the rollerassembly. The resilient, energy-storing member is configured to bias thepiston body into the first position by rotating the roller assemblyalong the cam.

In one embodiment, each of the first and second jaws includes anextension port configured to receive pressurized hydraulic fluid toactuate each of the at least one self-aligning piston into the engagedposition and a retraction port configured to receive pressurizedhydraulic fluid to actuate each of the at least one self-aligning pistoninto the disengaged position. In one embodiment, the pipe grippingassembly includes at least one gland fixedly housed in each of the firstand second jaws. The glands are configured to create a fluid-tight sealaround each of the at least one self-aligning piston.

This summary is provided to introduce a selection of concepts that arefurther described below in the detailed description. This summary is notintended to identify key or essential features of the claimed subjectmatter, nor is it intended to be used in limiting the scope of theclaimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features and advantages of embodiments of the presentdisclosure will become more apparent by reference to the followingdetailed description when considered in conjunction with the followingdrawings. In the drawings, like reference numerals are used throughoutthe figures to reference like features and components. The figures arenot necessarily drawn to scale.

FIG. 1 is a side elevational view of a drilling rig incorporating a pipegripping assembly according to one embodiment of the present disclosure;

FIG. 2A is a perspective view of a pipe gripping assembly including ajaw housing two self-aligning piston assemblies according to oneembodiment of the present disclosure;

FIG. 2B is a perspective view of the embodiment of the pipe grippingassembly illustrated in FIG. 2A with the jaw shown in phantom;

FIGS. 2C and 2D are front perspective views of a gland and a splinedshaft, respectively, according to one embodiment of the presentdisclosure;

FIGS. 3A and 3B are exploded rear and front perspective views,respectively, of one of the self-aligning piston assemblies illustratedin FIGS. 2A and 2B;

FIGS. 4A and 4B are rear and front perspective views, respectively, of acam according to one embodiment of the present disclosure;

FIGS. 4C and 4D are rear and front plan views, respectively, of the camillustrated in FIGS. 4A and 4B;

FIGS. 4E and 4F are a side view and a top view, respectively, of the camillustrated in FIGS. 4A-4D;

FIGS. 5A and 5B are rear and front perspective views, respectively, of aroller assembly according to one embodiment of the present disclosure;

FIGS. 5C and 5D are a top view and a side view, respectively, of theroller assembly illustrated in FIGS. 5A and 5B;

FIGS. 6A and 6B are rear and front perspective views, respectively, of apiston housing according to one embodiment of the present disclosure;

FIG. 6C is an rear plan view of the piston housing illustrated in FIGS.6A and 6B;

FIGS. 7A and 7B are front and rear perspective views, respectively, of adie assembly according to one embodiment of the present disclosure;

FIG. 7C is a front plan view of the die assembly illustrated in FIGS. 7Aand 7B;

FIGS. 7D and 7E are cross-sectional views of the die assemblyillustrated in FIG. 7C taken along lines D-D and E-E, respectively;

FIGS. 8A and 8B are perspective views of the self-aligning pistonassembly according to one embodiment of the present disclosure shown inan aligned orientation and a misaligned orientation, respectively,relative to a pipe segment; and

FIGS. 8C and 8D are side views of the self-aligning piston assemblyaccording to one embodiment of the present disclosure shown in analigned orientation and a misaligned orientation, respectively, relativeto a pipe segment.

DETAILED DESCRIPTION

The present disclosure is directed to pipe gripping assemblies andself-aligning piston assemblies for use in oil well drilling systems toconnect and disconnect pipe segments to a pipe string extendingdownwardly into a well bore. As used herein, the term “pipe segment”refers to casing segments and/or drill segments, and the term “pipestring” refers to casing strings and/or drill strings. The self-aligningpiston assemblies of the present disclosure are configured to engage apipe segment such that an output shaft of an existing top drive may bethreaded onto the pipe segment. (i.e., the self-aligning pistonassemblies fix the pipe segment such that the output shaft of the topdrive may rotate relative to the pipe segment to connect the outputshaft to the pipe segment).

Additionally, in response to an off-center load, the self-aligningpiston assemblies of the present disclosure are configured to rotate outof alignment with the pipe segment in order to mitigate stresses on theself-aligning piston assemblies (i.e., the self-aligning pistonassemblies are configured to rotate out of alignment for survivability).However, such misalignment between the self-aligning piston assembliesand the pipe segment reduces the efficacy of the pipe grippingassemblies and poses a risk of damaging the pipe segment throughmishandling. Accordingly, the self-aligning piston assemblies of thepresent disclosure are also configured to correct for the undesirablerotational misalignment between the self-aligning piston assemblies andthe pipe segments without requiring manual realignment of the variouscomponents of the self-aligning piston assemblies. Thus, theself-aligning piston assemblies of the present disclosure are configuredto permit rotation of the self-aligning piston assemblies out ofalignment with the pipe segment to mitigate stresses on theself-aligning piston assemblies and to then automatically return theself-aligning piston assemblies to their aligned orientation relative tothe pipe segment.

The pipe gripping assemblies and self-aligning piston assemblies of thepresent disclosure may be incorporated into any suitable existing piperunning tool. A suitable pipe running tool is described in U.S. Pat. No.7,510,006, the entire contents of which are hereby incorporated byreference. A pipe running tool 100 designed for use in a well drillingrig 101 is illustrated in FIG. 1. The well drilling rig 101 includes aframe assembly 102 and a top drive assembly 103. The top drive assembly103 includes a drive motor 104 and a top drive output shaft 105extending downwardly from the drive motor 104. The pipe running tool 100includes a frame assembly 106, a rotatable shaft 107, and a pipeengagement assembly 108 coupled to the rotatable shaft 107. Therotatable shaft 107 of the pipe running tool 100 is rotatably coupled tothe top drive output shaft 105 such that when the top drive output shaft105 is rotated by the top drive motor 104, the rotatable shaft 107 ofthe pipe running tool 100 is synchronously rotated. The pipe engagementassembly 108 of the pipe running tool 100 includes a spider/elevator 109configured to selectively engage a pipe segment 110 to enable the welldrilling rig 101 to create a threaded connection between the top driveoutput shaft 105 and the pipe segment 110 and subsequently a threadedconnection between the pipe segment 110 and a pipe string 111.

In order to create a threaded connection between the pipe segment 110and the pipe string 111, the pipe segment 110 is first hoisted upwardlyuntil the upper end of the pipe segment 110 extends through thespider/elevator 109. The spider/elevator 109 is then actuated into anengaged position to positively engage the pipe segment 110. Theengagement between the spider/elevator 109 and the pipe segment 110prevents relative rotation between the pipe segment 110 and thespider/elevator 109. The top drive motor 104 is then actuated to rotatethe top drive output shaft 105, which in turn creates a threadedconnection between the top drive output shaft 105 and the pipe segment110 via the rotatable shaft 107. Once the top drive output shaft 105 iscoupled to the pipe segment 110, the spider/elevator 109 may be actuatedinto a disengaged position to release the pipe segment 110 such that thepipe segment 110 may rotate synchronously with the rotation of the topdrive output shaft 105.

The top drive assembly 103 is then lowered relative to the rig frame 102along a pair of guide rails 114 to drive a threaded lower end 115 of thepipe segment 110 into contact with a threaded upper end 116 of the pipestring 111. As illustrated in FIG. 1, the pipe string 111 extends downinto the well bore through a flush-mounted spider 117 mounted in acentral opening 112 in the drill floor 113. During the process ofcoupling the pipe segment 110 to the pipe string 111, the flush-mountedspider 117 is actuated to engage the pipe string 111 to prevent relativerotation of the pipe string 111 with respect to the flush-mounted spider117. The top drive motor 104 is then actuated to rotate the top driveoutput shaft 105, which in turn rotates the rotatable shaft 107 of thepipe running tool 100 and the pipe segment 110. The pipe segment 110 isthus rotated into threaded engagement with the pipe string 111. It willbe appreciated that the well drilling rig 101 and the pipe running tool100 are also configured to decouple (i.e., breakout) the pipe segment110 from the pipe string 111. The pipe gripping assemblies andself-aligning piston assemblies of the present disclosure may beintegrated into the spider/elevator 109 of the pipe running tool 100 orany other suitable structure.

With reference now to the embodiment illustrated in FIGS. 2A and 2B, thepipe gripping assembly 120 includes a pair of jaws 121, 121′ configuredto clamp together around the pipe segment 110. In one embodiment, bothjaws 121, 121′ are similar or identical such that the reference numberdesignations used for the constituent parts and/or features of one ofthe jaws 121 applies equally to the constituent parts and/or features ofthe other jaw 121′. In the illustrated embodiment, each jaw 121, 121′houses two self-aligning piston assemblies 122 arranged in a v-shapedconfiguration (i.e., the self-aligning piston assemblies 122 arearranged radially in the jaws 121, 121′). Together, the self-aligningpiston assemblies 122 in the pair of jaws 121, 121′ are arranged in anx-shaped configuration (i.e., each self-aligning piston assembly 122 inone of the jaws 121 corresponds to a diametrically opposed self-aligningpiston assembly 122 in the other jaw 121′). It will be appreciated,however, that each jaw 121, 121′ may house any other suitable number ofself-aligning piston assemblies 122, such as, for example, one to four,and still fall within the scope and spirit of the present disclosure.Additionally, the self-aligning piston assemblies 122 may be arranged inany other suitable configuration in the jaws 121, 121′, such as, forexample, an inline configuration, and still fall within the scope andspirit of the present disclosure.

With continued reference to the embodiment illustrated in FIGS. 2A and2B, each jaw 121, 121′ includes a semi-annular notch 123 and twoapertures 124, 125 (e.g., smooth cylindrical blind bores) extendingradially outward from the semi-annular notch 123. When the jaws 121,121′ are clamped together around the pipe segment 110, the semi-annularnotches 123 define a circular opening through which the pipe segment 110passes. As illustrated in FIGS. 2A and 2B, the apertures 124, 125 areconfigured to house the two self-aligning piston assemblies 122.

The self-aligning piston assemblies 122 are configured to be actuatedbetween an engaged position and a disengaged position such that the pipegripping assembly 120 may selectively engage and disengage the pipesegment 110. When the self-aligning piston assemblies 122 are actuatedinto the engaged position, the self-aligning piston assemblies 122protrude inward from the semi-annular notches 123 in the jaws 121, 121′.In contrast, when the self-aligning piston assemblies 122 are actuatedinto the disengaged position, the piston assemblies 122 are retractedinto apertures 124, 125 in the jaws 121, 121′ such that theself-aligning piston assemblies 122 do not protrude inward beyond thesemi-annular notches 123 in the jaws 121, 121′. The self-aligning pistonassemblies 122 are illustrated in a retracted, disengaged position inFIG. 2A and in an extended, engaged position in FIG. 2B.

In the extended position, the self-aligning piston assemblies 122 areconfigured to positively engage the pipe segment 110 to prevent relativerotation between the pipe segment 110 and the pipe gripping assembly120. Accordingly, the top drive output shaft 105 may be threaded intoengagement with the pipe segment 110 by actuating the top drive motor104. It will be appreciated that the positive engagement between theself-aligning piston assemblies 122 and the pipe segment 110 alsoenables the oil drilling rig 101 to decouple the pipe segment 110 fromthe top drive output shaft 105. In the retracted position, theself-aligning piston assemblies 122 are disengaged from the pipe segment110 in order to permit the pipe segment 110 to rotate synchronously withthe top drive output shaft 105. Accordingly, when the self-aligningpiston assemblies 122 are disengaged from the pipe segment 110, the topdrive motor 104 may create a threaded connection between the pipesegment 110 and the pipe string 111 (i.e., the top drive motor 104 maybe actuated to rotate the top drive output shaft 105, which in turnthreads the pipe segment 110 into engagement with the pipe string 111,which is held in place by the flush-mounted spider 117 or other suitablestructure).

The self-aligning piston assemblies 122 may be actuated between theengaged and disengaged positions by any suitable means, such as, forexample, a pneumatic motor, an electric motor, a hydraulic motor, or anycombination thereof. In the embodiment illustrated in FIGS. 2A and 2B,the self-aligning piston assemblies 122 are configured to be actuated bya hydraulic motor. Each jaw 121, 121′ includes at least one extensionport 126 and at least one retraction port 127. In the illustratedembodiment, the number of extension ports 126 and the number ofretraction ports 127 corresponds to the number of self-aligning pistonassemblies 122 housed in each jaw 121, 121′ (i.e., each jaw 121, 121′houses two self-aligning piston assemblies 122 and includes twoextension ports 126, 126′ and two retraction ports 127, 127′). Extensionand retraction ports 126, 127 are configured to actuate one of theself-aligning piston assemblies 122 between the engaged and disengagedpositions, and extension and retraction ports 126, 127′ are configuredto actuate the other self-aligning piston assembly 122 between theengaged and disengaged positions. It will be appreciated, however, thatthe number of extension ports 126 and the number of retraction ports 127may differ from the number of piston assemblies 122. In one embodiment,for example, each jaw 121, 121′ may house two self-aligning pistonassemblies 122 and may have a single extension port 126 and a singleretraction port 127.

The extension ports 126, 126′ are configured to be coupled to ahydraulic system delivering pressurized hydraulic fluid to actuate theself-aligning piston assemblies 122 into the engaged, extended position,as shown in FIG. 2B. The retraction ports 127, 127′ are configured to becoupled to a hydraulic system delivering pressurized hydraulic fluid toactuate the self-aligning piston assemblies 122 into the disengaged,retracted position, as shown in FIG. 2A. In the illustrated embodiment,the pipe gripping assembly 100 includes a t-joint 128 coupled to one ofthe extension ports 126, an elbow joint 129 coupled to the otherextension port 126′, and a hydraulic line 130 extending between thet-joint 128 and the elbow joint 129. Pressurized hydraulic fluid isconfigured to flow into the t-joint 128 and the t-joint 128 isconfigured to split the flow of pressurized hydraulic fluid equallybetween the two extension ports 126, 126′. Similarly, in the illustratedembodiment, the pipe gripping 100 assembly includes a t-joint 131coupled to one of the retraction ports 127, an elbow joint 132 coupledto the other retraction port 127′, and a hydraulic line 133 extendingbetween the t-joint 131 and the elbow joint 132. Pressurized hydraulicfluid is configured to flow into the t-joint 131 and the t-joint 131 isconfigured to split the flow of pressurized hydraulic fluid equallybetween the two retraction ports 127, 127′.

With continued reference to FIGS. 2A and 2B, each of the self-aligningpiston assemblies 122 is configured to slide along a shaft 135 as theself-aligning piston assemblies 122 are actuated between the engagedposition (FIG. 2B) and the disengaged position (FIG. 2A). The shafts 135are fixedly housed in the apertures 124, 125 in the jaw 121, 121′. Inthe illustrated embodiment of FIGS. 2B and 2D, each shaft 135 includes acylindrical body portion 136 and an elongated cylindrical rod 137projecting inward from the cylindrical body portion 136. At least aportion of the elongated cylindrical rod 137 is splined (i.e., the shaft135 includes a series of notches or grooves 138 extending lengthwisealong the elongated cylindrical rod 137 and circumferentially disposedaround the elongated cylindrical rod 137). As described in furtherdetail below, the splined shafts 135 are configured to restrict rotationof some of the components of the self-aligning piston assemblies 122 andpermit rotation of some other components of the self-aligning pistonassemblies 122 in order to self-align the piston assemblies 122 with thepipe segment 110.

Still referring to FIG. 2B, each of the self-aligning piston assemblies122 is slidably received in a gland 140. The glands 140 are configuredto create a fluid-tight seal around the self-aligning piston assemblies122 (e.g., the glands 140 are configured to prevent hydraulic fluid fromleaking out of the pipe gripping assembly 120). The glands 140 arefixedly housed in the apertures 124, 125 in the jaws 121, 121′. In oneembodiment, the glands 140 are press-fit or friction fit into theapertures 124, 125 in the jaws 121, 121′. As illustrated in FIG. 2C,each gland 140 includes a cylindrical outer surface 141 and a centralopening 142 (e.g., a smooth cylindrical bore) extending between innerand outer ends 143, 144, respectively, of the gland 140. The centralopenings 142 in the glands 140 are configured to slidable receive theself-aligning piston assemblies 122 (i.e., the self-aligning pistonassemblies 122 slide in the central openings 142 of the glands 140 asthe self-aligning piston assemblies 122 are actuated between the engagedand disengaged positions). Each gland 140 also includes a rectangularrecess 145 extending outward from the inner end 143. When theself-aligning piston assemblies 122 are in the retracted, disengagedposition (see FIG. 2A), die assemblies, described in detail below, arereceived in the rectangular recesses 145 in the glands 140. When theself-aligning piston assemblies 122 are in the extended, engagedposition (see FIG. 2B), the die assemblies extend out of the rectangularrecesses 145 and beyond the inner ends 143 of the glands 140. In theillustrated embodiment, the outer cylindrical surface 141 of each gland140 also includes a pair of opposing arcuate notches (only one notch 146is visible in FIG. 2C). When the glands 140 are received in theapertures 124, 125 in the jaws 121, 121′, as illustrated in FIGS. 2A and2B, pins 147 are configured to extend down through openings 148 in thejaws 121, 121′ and into the arcuate notches 146 to fixedly attach theglands 140 to the jaws 121, 121′.

With reference now to the embodiment illustrated in FIGS. 3A and 3B,each self-aligning piston assembly 122 includes a piston body 150, a dieassembly 151 configured to be coupled to an inner end 152 of the pistonbody 150, a plurality of springs 153 configured to be housed in thepiston body 150, a roller assembly 154 configured to be coupled to anouter end 155 of the piston body 150, a cam 156 disposed between thesprings 153 and the roller assembly 154, and a thrust bearing assembly157 disposed between the cam 156 and the springs 153.

With reference now to the embodiment illustrated in FIGS. 4A-4F, the cam156 includes a central hub 160 and a rim 161 surrounding the hub 160. Inthe illustrated embodiment, the hub 160 is a thin-walled cylindricalprotrusion having a smooth outer surface 162 and a splined inner surface163 having a plurality of ridges or teeth 164 (i.e., the cam 156includes a plurality of ridges or teeth 164 extending lengthwise alongthe inner surface 163 of the hub 160 and circumferentially disposedaround the inner surface 163 of the hub 160). The splined inner surface163 of the hub 160 is configured to engage the splined shaft 135 (i.e.,the teeth 164 on the cam 156 are configured to mesh with the grooves 138in the splined shaft 135). The engagement between the teeth 164 on thecam 156 and the grooves 138 in the shaft 135 is configured to preventthe cam 156 from rotating around the shaft 135 but permit the cam 156 toslide axially along the shaft 135, the significance of which isdescribed below (i.e., the splined cam 156 remains rotationally fixedrelative to the splined shaft 135, but is configured to be translatedaxially along the splined shaft 135).

With continued reference to FIGS. 4A-4F, the rim 161 of the cam 156defines a pathway or cam surface 165 along which rollers 166 on theroller assembly 154 are configured to roll as the die assembly 151 onthe self-aligning piston assembly 122 is rotating into and out ofalignment with the pipe segment 110. In the illustrated embodiment, thecam surface 165 includes opposing first and second recesses or wells167, 168 and opposing first and second peaks or apices 169, 170 (i.e.,the first and second wells 167, 168 are diametrically opposed from eachother on the rim 161, and the first and second apices 169, 170 arediametrically opposed from each other on the rim 161). Additionally, inthe illustrated embodiment, the apices 169, 170 in the cam surface 165are radially spaced apart from the wells 167, 168 by approximately 90degrees. The cam surface 165 also includes four sloped surface segments171, 172, 173, 174 extending between adjacent wells 167, 168 and apices169, 170. As described in further detail below, the contoured camsurface 165 is configured to convert the rotary motion of the dieassembly 151 (i.e., as the die assembly 151 on the self-aligning pistonassembly 122 is rotating into and out of alignment with the pipe segment110) into reciprocating linear motion of the cam 156 along the axis ofthe splined shaft 135.

With continued reference to FIGS. 4B, 4C, 4E, and 4F, the cam 156 alsoincludes an annular recess 175 extending outward from an inner end 176of the cam 156. The annular recess 175 extends around the periphery ofthe rim 161. The annular recess 175 also defines an annular lip 177. Theannular recess 175 is configured to receive the bearing assembly 157. Inthe illustrated embodiment of FIGS. 2A and 2B, the thrust bearingassembly 157 includes a thrust bearing 180, a thrust washer 181 disposedon an outer end of the thrust bearing 180, and a pair of thrust washers182, 183 disposed on an inner end of the thrust bearing 180. The thrustbearing 180 may be any suitable type of thrust bearing, such as, forexample, a cylindrical roller thrust bearing or a thrust ball bearing.The annular lip 177 on the cam 156 is configured to support innerdiameters of the thrust bearing 180 and two of the thrust washers 181,182 disposed on opposite sides of the thrust bearing 180.

With reference now to the embodiment illustrated in FIGS. 5A-5D, theroller plate assembly 154 includes a flat, circular plate 185 having aninner surface 186 and an outer surface 187 opposite the inner surface186, and a central opening 188, such as a smooth circular through hole,extending between the inner and outer surfaces 186, 187. The centralopening 188 in the roller plate assembly 154 is configured to receivethe splined shaft 135 (i.e., the inner diameter of the central opening188 in the circular plate 185 is larger than the outer diameter of theelongated cylindrical rod 137 on the splined shaft 135 such that theelongated cylindrical rod 137 may extend through the central opening188). The central opening 188 in the circular plate 185 is configured toallow the roller plate assembly 154 to both rotate around the splinedshaft 135 and slide axially along the splined shaft 135, thesignificance of which is described below.

With continued reference to FIGS. 5A-5D, the roller plate assembly 154also includes two devises 189, 190 coupled to the inner surface 186 ofthe circular plate 185. The devises 189, 190 may be either integrallyformed with the flat, circular plate 185 or separately formed andcoupled to the flat, circular plate 185 by any suitable means, such asbonding, welding, mechanical fastening, or combinations thereof. Eachclevis 189, 190 includes two closely spaced legs 191, 192 and a bar 193interconnecting outer ends of the legs 191, 192. The legs 191, 192 ofeach clevis 189, 190 each also include an opening 194, 195,respectively. Together, the pair of openings 194, 195 in each clevis189, 190 are configured to support an axle 196. The axle 196 of eachclevis 189, 190 is configured to rotatably support a roller 166 (i.e.,the rollers 166 are configured to rotate about the axles 196). Asillustrated in FIGS. 5A and 5B, the devises 189, 190 are orientedradially around the flat, circular plate 185. In the illustratedembodiment, the roller plate assembly 154 includes two rollers 166,although the roller plate assembly 154 may include any other suitablenumber of rollers 166, such as, for example, one to four rollers, andstill fall within the scope and spirit of the present disclosure. Asdescribed in further detail below, the rollers 166 on the roller plateassembly 154 are configured to roll along the cam surface 165 of the cam156 as the die assembly 151 is moved into and out of alignment with thepipe segment 110.

The roller plate assembly 154 also includes a plurality of openings 197circumferentially disposed around the flat, circular plate 185. Thecircumferentially disposed openings 197 in the circular plate 185 areconfigured to receive a plurality of fasteners 198 coupling the rollerplate assembly 154 to the piston body 150, as illustrated in FIGS. 2Aand 2B. In the illustrated embodiment, the roller plate assembly 154also includes a plurality of depressions 199 surrounding the openings197 and extending inward from the outer surface 187 of the flat,circular plate 185. The plurality of depressions 199 are configured torecess at least a portion of the fasteners 198 coupling the roller plateassembly 154 to the piston body 150.

With reference now to the embodiment illustrated in FIGS. 6A-6C, thepiston body includes 150 a smaller cylindrical portion 200 and a largercylindrical portion 201. In the illustrated embodiment, the largercylindrical portion 201 is located at an outer end of the smallercylindrical portion 200. The larger cylindrical portion 201 includes anouter surface 202 and an inner surface 203 opposite the outer surface202. The piston body 150 also includes an annular recess 204 extendinginward from the outer surface 202 of the larger cylindrical portion 201.The annular recess 204 is configured to receive the circular plate 185of the roller plate assembly 154 (i.e., the circular plate 185 isconfigured to be seated in the annular recess 204). In one embodiment,when the self-aligning piston assembly 122 is assembled, the outersurface 187 of the circular plate 185 of the roller plate assembly 154is flush with the outer surface 202 of the larger cylindrical portion201 of the piston body 150. In alternate embodiments, the outer surface187 of the roller plate assembly 154 may be recessed in the annularrecess 204 of the piston body 150 or may protrude outward from the outersurface 202 of the piston body 150. The larger cylindrical portion 201of the piston body 150 also includes a plurality of openings 205, suchas threaded blind bores, extending inward from the annular recess 204and circumferentially disposed around the annular recess 204. Thethreaded blind bores 205 are configured to receive the plurality offasteners 198 securing the roller plate assembly 154 to the piston body150. Although in the illustrated embodiment the piston body 150 includeseight threaded blind bores 205, the piston body 150 may have any othersuitable number of threaded blind bores 205, such as, for example, twoto twelve. In an alternate embodiment, the openings 205 in the pistonbody 150 may be smooth blind bores and the fasteners 198 securing theroller plate assembly 154 to the piston body 150 may be self-tappingfasteners.

With continued reference to FIGS. 6A-6C, the piston body 150 alsoincludes a central axial recess 206 (e.g., a smooth, cylindrical blindbore) configured to receive the splined cylindrical rod portion 137 ofthe shaft 135. The central axial recess 206 is sized such that thepiston body 150 may slide along the cylindrical rod portion 137 of theshaft 135 as the self-aligning piston assemblies 122 are actuatedbetween the engaged position (FIG. 2B) and the disengaged position (FIG.2A). The depth of the central axial recess 206 in the piston body 150defines the maximum stroke of the piston body 150 (i.e., the depth ofthe central axial recess 206 in the piston body 150 defines the extentto which the self-aligning piston assembly 122 can extend inward toengage the pipe segment 110). The piston body 150 also includes adepression 207 (e.g., a smooth blind bore) extending inward from theannular recess 204 in the larger cylindrical portion 201. In theillustrated embodiment, the depression 207 is larger than, andconcentric with, the central axial recess 206 in the piston body 150.The depression 207 is configured to house the cam 156 and is sized toenable the cam 156 to slide within the piston body 150 and along thesplined cylindrical rod 137 of the shaft 135, the significance of whichis described below (i.e., the depth of the depression 207 in the pistonbody 150 is sized to enable the cam 156 to slide within the piston body150). The piston body 150 also includes a plurality of smaller arcuatenotches 208 extending inward from the depression 207. In the illustratedembodiment, the arcuate notches 208 are circumferentially equidistantlydisposed around the central axial recess 206 in the piston body 150, asillustrated in FIG. 6C. The arcuate notches 208 are configured to houseand retain the springs 153 in the piston body 150. Although in theillustrated embodiment the piston body 150 includes six arcuate notches208, the piston body 150 may have any other suitable number of arcuatenotches 208, such as, for example, one to ten, depending upon the numberof springs 153 housed in the piston body 150.

As illustrated in FIG. 6B, the piston body also includes a cylindricalrecess 209 (e.g., a smooth blind bore) and a plurality of openings 210disposed around the cylindrical recess 209. The cylindrical recess 209and the plurality of openings 210 extend outward from an inner surface211 of the smaller cylindrical portion 200 of the piston body 150. Thecylindrical recess 209 is configured to receive a portion of the dieassembly 151, and the plurality of openings 210 are configured toreceive a plurality of fasteners 212 coupling the die assembly 151 tothe inner end 152 of the piston body 150. The openings 210 may be eithersmooth blind bores or threaded blind bores, depending upon the type offasteners (e.g., self-tapping fasteners) coupling the die assembly 151to the piston body 150.

With reference now to the embodiment illustrated in FIGS. 7A-7E, the dieassembly 151 includes a die carrier 215 and a die insert 216 configuredto be supported by the die carrier 215. The die assembly 151 isconfigured to be coupled to the inner end 152 of the piston body 150 andto engage the pipe segment 110 when the self-aligning piston assembly122 is in the extended, engaged position (see FIG. 2B). The die carrier215 includes a generally rectangular body portion 217 having a pair oflonger sides 218, 219 extending in a longitudinal direction and a pairof narrower sides 220, 221 extending in a transverse direction. The diecarrier 215 also includes a pair of feet 222, 223 extending outward fromthe longer sides 218, 219, respectively, of the rectangular body portion217. Each of the feet 222, 223 taper between a thicker, interconnectedportion 224 coupled to the body portion 217 and a relatively thinner,free portion 225 opposite the thicker portion 224. In the illustratedembodiment, each of the feet 222, 223 also includes two openings 226,227 configured to receive the fasteners 212 coupling the die carrier 215to the inner end 152 of the piston body 150 (i.e., the fasteners 212coupling the die assembly 151 to the piston body 150 extend through theopenings 226, 227 in the die carrier 215 and into the openings 210 inthe inner end 152 of the piston body 150). In the illustratedembodiment, the die carrier 215 also includes a spotface 228 around eachof the openings 226, 227 such that the fasteners 212 coupling the diecarrier assembly 151 to the piston body 150 rest flush against the diecarrier 215. The die carrier 215 also includes a cylindrical protrusion229 extending outward from an outer surface 230 of the rectangular bodyportion 217. The cylindrical protrusion 229 is configured to be receivedin the cylindrical recess 209 in the inner end 152 of the piston body150.

As best illustrated in FIG. 7E, the die carrier 215 also includes anarrow, rectangular channel 231 extending in a longitudinal directionbetween the narrower sides 220, 221 of the rectangular body portion 217.The narrow channel 231 is configured to slidably receive the die insert216. In the illustrated embodiment, the die insert 216 is a generallyrectangular plate having a friction-inducing inner surface 232, such as,for example, a knurled surface, ridges, etching, striations, a coating,or any combinations thereof. The friction-inducing inner surface 232 ofthe insert 216 is configured to engage the pipe segment 110 when theself-aligning piston assembly 122 is in the extended, engaged position(FIG. 2B). The die carrier 215 also includes a pair of notches 233, 234in the narrower sides 220, 221, respectively, of the rectangular bodyportion 217. The notches 233, 234 are configured to receive end caps235, 236, respectively, configured to retain the die insert 216 in thenarrow channel 231 in the die carrier 215.

With reference now to FIGS. 8A-8D, the operation of the self-aligningpiston assemblies 122 will now be described. Under normal operatingconditions, the die assemblies 151 are configured to be orientedvertically (i.e., lengthwise) along the pipe segment 110. Additionally,under normal operating conditions, the rollers 166 on the roller plateassembly 154 are initially seated in the wells 167, 168 of the cam 156,as illustrated in FIGS. 8A and 8C. Accordingly, the positioning of thewells 167, 168 in the cam 156 defines the initial orientation of the dieassembly 151 relative to the pipe segment 110. If, however, the dieassemblies 151 are rotated (arrow 240 in FIG. 8B) out of alignment withthe pipe segment 110 during operation (e.g., due to an off-center load),the rollers 166 are rolled along the cam surface 165 towards the apices169, 170, as illustrated in FIGS. 8B and 8D (i.e., if the die assemblies151 are rotated (arrow 240) out of the vertical, aligned orientationrelative to the pipe segment 110, the rollers 166 are rolled out of thewells 167, 168 and towards the apices 169, 170 on the cam 156).

As the rollers 166 are rotated towards the apices 169, 170 on the cam156, the cam 156 is translated inward (arrow 241 in FIG. 8B) along thesplined elongated rod 137 of the shaft 135, thereby compressing thesprings 153 housed in the piston body 150 (i.e., because the rollerplate assembly 154 is fixedly attached to the piston body 150, as therollers 166 roll up along the sloped segments of the cam surface 165toward the apices 169, 170 on the cam 156, the cam 156 is forced inward(arrow 241) along the shaft 135 toward the die assembly 151). In oneembodiment, the springs 153 are initially in a pre-compressed state andare further compressed into a higher potential energy state as therollers 166 are rotated towards the apices 169, 170 on the cam 156 andthe cam 156 is forced inward (arrow 241) along the shaft 135. The higherpotential energy stored in the compressed springs 153 tends to force therollers 166 to roll back down along the sloped segments of the camsurface 165 and into the wells 167, 168 in the cam 156 (i.e., the forcesupplied by the compressed springs 153 tends to bias the rollers 166 onthe roller plate assembly 154 down into the wells 167, 168 in the cam156). As the rollers 166 are rolled back into the wells 167, 168 in thecam 156, the cam 156 is translated outward (arrow 242 in FIG. 8A) alongthe splined elongated rod 137 of the shaft 135 and into its initialposition, thereby reducing the compression in the springs 153 (i.e., thesprings 153 are returned to their initial state of pre-compression).Accordingly, the springs 153 force the rollers 166 on the roller plateassembly 154 to roll back down into the wells 167, 168 in the cam 156such that the die assembly 151 returns to a vertically aligned positionrelative to the pipe segment 110.

If the die assembly 151 is rotated (arrow 240 in FIG. 8B) less than 90degrees out of alignment with the pipe segment 110, the rollers 166 willnot reach the apices 169, 170 on the cam 156, which are radially spacedapart from the wells 167, 168 in the cam 156 by approximately 90degrees. Accordingly, if the die assembly 151 is rotated (arrow 240 inFIG. 8B) less than 90 degrees, the rollers 166 and the cam 156 willoperate to force the die assembly 151 to rotate (arrow 243 in FIG. 8A)back into its initial, vertically aligned orientation relative to thepipe segment 110 (i.e., the rollers 166 will be forced back into thewells 167, 168 in which they were initially seated).

If the die assembly 151 is rotated (arrow 240 in FIG. 8B) betweenapproximately 90 degrees and 270 degrees out alignment with the pipesegment 110, the rollers 166 will roll past the apices 169, 170 in thecam 156. Accordingly, if the die assembly 151 is rotated (arrow 240)between 90 degrees and 270 degrees, the rollers 166, the springs 153,and the cam 156 will operate to force the die assembly 151 to rotate(arrow 244 in FIG. 8A) into a vertical orientation upside-down from itsinitial orientation (i.e., if the rotation of the die assembly 151forces the rollers 166 to roll past the apices 169, 170 on the cam 156,the springs 153 will force the rollers 166 to roll down into the wells167, 168 in the cam 156 opposite from the wells 167, 168 in which theywere initially seated, but the die assembly 151 will return to analigned, vertical orientation relative to the pipe segment 110).Accordingly, the die assembly 151 returns to the aligned verticalorientation by rotating in a counterclockwise direction (arrow 243) whenthe die assembly 151 is rotated (arrow 240 in FIG. 8B) less than 90degrees out of alignment with the pipe segment 110 and returns to thealigned vertical orientation by rotating in an clockwise direction(arrow 244) when the die assembly 151 is rotated (arrow 240 in FIG. 8B)between approximately 90 degrees and 270 degrees out alignment with thepipe segment 110. Each incremental rotation of the die assembly 151 upto 180 degrees beyond 270 degrees will alternately force the dieassembly 151 into its initial, vertical orientation relative to the pipesegment 110 and a vertical orientation upside-down from its initialorientation. Accordingly, regardless of the degree of rotation of dieassembly 151 out of alignment with the pipe segment 110, the dieassembly 151 is configured to be automatically returned to an aligned(e.g., vertical) orientation relative to the pipe segment 110 byoperation of the springs 153, the cam 156, and the rollers 166. It willbe appreciated that the die assembly 151 may be symmetric about ahorizontal axis such that the die assembly 151 is configured to properlyengage the pipe segment 110 when oriented either right-side-up orupside-down.

The piston body 150, the die assembly 151, the springs 153, the rollerassembly 154, the cam 156, and the thrust bearing assembly 157 may bemade of any suitable materials, such as, for example, aluminum, steel,alloy, or carbon fiber reinforced plastic. The piston body 150, the dieassembly 151, the springs 153, the roller assembly 154, the cam 156, andthe thrust bearing assembly 157 may be formed by any suitable process,such as, for example, extruding, machining, stamping, pressing, molding,welding, rapid prototyping using additive manufacturing techniques, orany combination thereof.

While this invention has been described in detail with particularreferences to exemplary embodiments thereof, the exemplary embodimentsdescribed herein are not intended to be exhaustive or to limit the scopeof the invention to the exact forms disclosed. Persons skilled in theart and technology to which this invention pertains will appreciate thatalterations and changes in the described structures and methods ofassembly and operation can be practiced without meaningfully departingfrom the principles, spirit, and scope of this invention, as set forthin the following claims. Although relative terms such as “outer,”“inner,” “upper,” “lower,” “below,” “above,” “vertical,” “horizontal,”and similar terms have been used herein to describe a spatialrelationship of one element to another, it is understood that theseterms are intended to encompass different orientations of the variouselements and components of the invention in addition to the orientationdepicted in the figures. Additionally, although the pipe grippingassemblies and self-aligning piston assemblies of the present inventionhave been described with reference to an oil drilling rig, it will beappreciated that the pipe gripping assemblies and self-aligning pistonassemblies may be used in any other suitable application or industry.

What is claimed is:
 1. A self-aligning piston configured to selectivelyengage and disengage a pipe segment, the self-aligning pistoncomprising: a piston body configured to rotate between a first positionand a second position; at least one resilient, energy-storing membercoupled to the piston body; a roller assembly coupled to the pistonbody; and a cam disposed between the at least one resilient,energy-storing member and the roller assembly, wherein the resilient,energy-storing member is configured to bias the piston body into thefirst position by rotating the roller assembly along the cam.
 2. Theself-aligning piston of claim 1, wherein the first position is apredetermined, aligned orientation relative to the pipe segment and thesecond position is a variable, misaligned orientation relative to thepipe segment.
 3. The self-aligning piston of claim 1, wherein the atleast one resilient, energy-storing member comprises a plurality ofsprings.
 4. The self-aligning piston of claim 1, further comprising asplined shaft, wherein the self-aligning piston is configured to slidealong the splined shaft between an engaged position with the pipesegment and a disengaged position.
 5. The self-aligning piston of claim1, further comprising a die assembly coupled to the piston body.
 6. Theself-aligning piston of claim 1, wherein: the cam defines a contouredcam surface having a pair of opposing wells and a pair of opposingapices; the roller assembly includes a plurality of rollers; the rollersare configured to rest in the wells when the piston body is in the firstposition; the rollers are configured to roll along the cam surfacetoward the apices as the piston body is rotated into the secondposition; and the at least one resilient, energy-storing member isconfigured to bias the rollers into the wells to return the piston bodyto the first position.
 7. The self-aligning piston of claim 1, whereinthe at least one resilient, energy-storing member is in a pre-compressedstate when the piston body is in the first position, and the at leastone resilient, energy-storing member is compressed further into a higherpotential energy state when the piston body is in the second position.8. The self-aligning piston of claim 4, wherein the cam furthercomprises a hub having a splined surface configured to engage thesplined shaft, the engagement between the hub and the shaft configuredto prevent the rotation of the cam about the splined shaft.
 9. Aself-aligning piston assembly configured to selectively engage anddisengage a pipe segment, the self-aligning piston assembly comprising:a splined shaft; and a piston assembly configured to slide along thesplined shaft between an engaged position and a disengaged position, thepiston assembly comprising: a piston housing configured to rotatebetween an aligned position and a misaligned position relative to thepipe segment; a die assembly coupled to an inner end of the pistonhousing; a plurality of springs housed in the piston housing; a camdefining a contoured cam surface having a pair of opposing wells and apair of opposing apices; and a roller assembly coupled to an outer endof the piston housing, the roller assembly including a plurality ofrollers configured to roll along the cam surface, wherein: the rollersare configured to rest in the wells when the die assembly is in thealigned position; the rollers are configured to roll along the camsurface toward the apices as the die assembly is rotated into themisaligned position; and the springs are configured to bias the rollersinto the wells to return the die assembly to the aligned position. 10.The self-aligning piston assembly of claim 9, wherein the cam furthercomprises a hub having a splined surface configured to engage thesplined shaft, the engagement between the hub and the shaft configuredto prevent the rotation of the cam about the splined shaft.
 11. Theself-aligning piston assembly of claim 9, wherein the die assemblycomprises: a die holder; and a die insert configured to be supported bythe die holder.
 12. The self-aligning piston assembly of claim 9,wherein the piston housing comprises a plurality of smooth blind boresconfigured to receive the plurality of springs.
 13. The self-aligningpiston assembly of claim 9, further comprising a thrust bearing disposedbetween the cam and the plurality of springs.
 14. A pipe grippingassembly configured to selectively engage and disengage a pipe segment,the pipe gripping assembly comprising: first and second jaws configuredto clamp together around the pipe segment; at least one splined shaftfixedly housed in each of the first and second jaws; and at least oneself-aligning piston housed in each of the first and second jaws andconfigured to slide along the splined shaft between an engaged positionand a disengaged position, each of the at least one self-aligningpistons comprising: a piston body configured to rotate between a firstposition and a second position; at least one resilient, energy-storingmember coupled to the piston body; a roller assembly coupled to thepiston body; and a cam disposed between the at least one resilient,energy-storing member and the roller assembly, wherein the resilient,energy-storing member is configured to bias the piston body into thefirst position by rotating the roller assembly along the cam.
 15. Thepipe gripping assembly of claim 14, wherein each of the first and secondjaws further comprises: an extension port configured to receivepressurized hydraulic fluid to actuate each of the at least oneself-aligning piston into the engaged position; and a retraction portconfigured to receive pressurized hydraulic fluid to actuate each of theat least one self-aligning piston into the disengaged position.
 16. Thepipe gripping assembly of claim 14, further comprising at least onegland fixedly housed in each of the first and second jaws, the at leastone gland configured to create a fluid-tight seal around each of the atleast one self-aligning piston.
 17. The pipe gripping assembly of claim14, wherein: the cam defines a contoured cam surface having a pair ofopposing wells and a pair of opposing apices; the roller assemblyincludes a plurality of rollers; the rollers are configured to rest inthe wells when the piston body is in the first position; the rollers areconfigured to roll along the cam surface toward the apices as the pistonbody is rotated into the second position; and the at least oneresilient, energy-storing member is configured to bias the rollers intothe wells to return the piston body to the first position.
 18. The pipegripping assembly of claim 14, wherein the cam further comprises a hubhaving a splined surface configured to engage the splined shaft, theengagement between the hub and the shaft configured to prevent therotation of the cam about the splined shaft.
 19. The pipe grippingassembly of claim 14, further comprising a die assembly coupled to aninner end of the piston body.
 20. The self-aligning piston of claim 14,wherein the at least one resilient, energy-storing member is in apre-compressed state when the piston body is in the first position, andthe at least one resilient, energy-storing member is compressed furtherinto a higher potential energy state when the piston body is in thesecond position.